JP2948280B2 - Automatic assembly device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic assembling apparatus that automatically assembles a work to a surface to be assembled with bolts.

(Prior art) When assembling a work to a surface to be assembled with bolts, from the viewpoint of labor saving or improvement of workability,
Conventionally, the bolts are automatically assembled using a robot (for example, Japanese Utility Model Application Laid-Open No. 60-100126).
Reference).

(Problems to be Solved by the Invention) By the way, in the case of assembling a work with bolts using a robot in this way, in order to realize proper work assembling, it is necessary to form the bolt and the surface to be assembled. It is a condition that the positioning with respect to the bolt hole is performed accurately.

In this case, if a specific work is fixed with a bolt to a specific mounting surface position, this can be easily realized by setting the relative position between the robot and the bolt accurately in advance. Although it is possible, for example, when assembling multiple types of workpieces at multiple positions on the mounting surface, it is necessary to accurately set the relative position between each mounting surface position and the robot in advance. It is difficult in some cases. For example, it is difficult to smoothly screw in the bolt in such a state that the bolt is inclined with respect to the bolt hole due to a positional deviation in the radial direction. Things can happen.

However, in the conventional automatic assembling apparatus, no consideration is given to the correction of the inclination of the bolt in such a case, and therefore, there is a problem in terms of workability and reliability of the work.

In view of the above, the present invention has been made to improve the workability of work assembling work or the reliability thereof by making it possible to easily and surely correct the inclination of a bolt when assembling any work at any position. It was made to provide an assembling device.

(Means for Solving the Problems) The present invention employs the following configuration as specific means for solving the problems. That is, the bolt held by the chuck is formed on the mounting surface by a socket which is driven to rotate and is movable in the axial direction thereof, and the head of the bolt can be fitted and held at the tip of the bolt. In an automatic assembling device adapted to be assembled to a bolt hole, in a state where the socket is separated from the bolt head by a predetermined dimension or more, movement in the radial direction is restricted, and the socket is fitted to the bolt head. Therefore, in a state in which it is allowed to move in the radial direction when it is within the predetermined dimension, the chuck is moved in a state where the socket is close to the bolt head within the predetermined dimension. A biasing means configured to release the holding action of the bolt, and further, at the tip of the socket, an urging means for pressing the head of the bolt in the screwing direction,
Along with the socket being slidable in the axial direction and with its relative displacement in the radial direction being regulated,
The urging means is configured such that its tip end is fitted into the bolt head in an uneven manner to allow the axis of the bolt to be inclined with respect to the axis of the urging means and to regulate the relative displacement in the radial direction. And, at least in a state in which the tip end surface of the bolt is in contact with the bolt hole, the bolt is engaged with the head in a concave and convex manner to start a pressing action on the bolt head.

(Operation) In the present invention, the following operation is obtained by adopting such a configuration.

That is, when the bolt held by the chuck is screwed into the bolt hole of the mounting surface using a socket, at an initial stage where the tip end surface of the bolt is in contact with the bolt hole, the socket is The socket is separated from the bolt head by a predetermined distance or more.Therefore, when the socket moves to the bolt side from this state, the distal end of the urging means provided at the distal end of the socket moves with respect to the bolt head. The bolts are pressed against the bolt hole side by the urging means.

In this case, in a state where the socket is separated from the bolt head by the predetermined dimension or more, the movement in the radial direction is restricted, but when the socket approaches within the predetermined dimension, the movement in the radial direction is allowed. The urging means attached to the socket is restricted in movement in the radial direction with respect to the socket, but is slidable in the axial direction. The distal end of the biasing means is configured to fit into the bolt head in an uneven manner so as to allow the tilt of the axis of the bolt while restricting the relative displacement in the radial direction.

Therefore, for example, if the axes of the bolts are not coincident with each other in a state where the tip of the bolt is in contact with the bolt hole, the correction of the deviation is automatically performed as the socket moves to the bolt side. Done in That is, in a state where the bolt is biased and supported by the urging means toward the bolt hole, when the socket approaches the bolt side and reaches within the predetermined dimension, the radial movement of the socket is permitted. It will be in the state to be performed.

Therefore, when the bolt receives a moment in the direction of correcting the inclination of its axis due to the pressing force of the urging means,
Upon receiving this moment, the socket moves in the radial direction, whereby the bolt is provided in a direction in which its inclination coincides with the axis of the bolt hole, and the axes of both bolts are made to coincide as much as possible. Become.

On the other hand, when the socket approaches the bolt head within the predetermined dimension, the holding action of the bolt by the chuck is released, and the bolt is in a state capable of being screwed.

Therefore, in this way, the socket is fitted to the bolt head in a state where the axis of the bolt matches the axis of the bolt hole as much as possible, and the bolt is screwed by the socket, The bolt is smoothly screwed into the bolt hole.

(Effects of the Invention) Therefore, according to the automatic assembling apparatus of the present invention, after the bolt is roughly positioned with respect to the bolt hole by the urging means provided at the distal end of the socket, the bolt is positioned in the radial direction of the socket. , The inclination of the bolt is corrected by the movement of the bolt, even if the axis of the bolt does not coincide with the axis of the bolt hole even when the bolt is positioned in the bolt hole. Since the deviation is corrected as much as possible at the start of the bolt screwing operation by the socket, the work of assembling the work to the surface to be assembled using the bolt is performed smoothly and It will be performed with high reliability.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 shows an automatic assembling apparatus according to an embodiment of the present invention. This automatic assembling apparatus is for assembling a hydraulic brake hose unit 90 (see FIG. 3) of a vehicle at a predetermined position of a caliper 88 (see FIG. 5) with bolts 87. For convenience,
First, the configuration of the hose unit 90 will be described with reference to FIG. 3 and FIG.

Hose unit 90 The hose unit 90 is configured by attaching a hose base 91 described later to one end of a hose 95 having a predetermined length. The hose base 91 has a bolt insertion hole 85 penetrating the shaft center thereof, and protrudes radially outward of the base body 92 at a position on the outer peripheral surface thereof in a radially opposite position.
Is inserted into and fixed to a hose mounting portion 93, and the base body portion 92 is fitted into a pin hole 96 provided on the caliper 88 side.
And a substantially L-shaped positioning pin 94 for positioning with respect to the caliper 88. The hose base 91 is fixed to the caliper 88 side by screwing a bolt 87 penetrating through the bolt insertion hole 85 into a bolt hole 89 of the caliper 88.

The bolt 87 has a substantially conical concave portion 87c formed on the top surface of its head portion 87a, while its distal end surface 87b is a chamfered conical surface. Also, the head 87
At the lower end of a, a conical seat 87d that also functions as a guide for a chuck unit D described later is provided.
Further, the end face 89a of the bolt hole 89 on the caliper 88 side
Is a conical surface corresponding to the tip end surface 87b of the bolt 87.

Configuration of Automatic Assembling Apparatus The automatic assembling apparatus is for assembling the hose base 91 to the caliper 88 side with the bolt 87 as described above, and as shown in FIG. It has a nut runner 3 attached to the portion via a support plate 2. The lower end of the rotation shaft 4 of the nut runner 3 is connected to a lower end portion of the rotation shaft 4 through a swing support unit C having a first connection shaft 5 and a second connection shaft 6 arranged in a direction orthogonal to each other. The socket unit B is attached.

A slide unit A described later is attached to the support plate 2 at a position coaxially opposed to the nut runner 3.
At the lower end 9a of the slide shaft 9, a socket unit B, a chuck unit D, a hose cap unit E, and a movement restricting unit F, which will be described later, are respectively mounted. Hereinafter, the configuration of each of these units A, B, D, E, and F will be individually described.

a: Slide unit A As shown in FIG. 3, the slide unit A includes a cylindrical basic member 7 fixed to the lower surface of the support plate 2.
A hollow shaft-shaped slide shaft 9 is inserted via a bearing unit 8 so as to be movable in the axial direction thereof, and the slide shaft 9 is constantly urged downward (in a direction away from the support plate 2) by a spring 10. It is configured.
A rotating shaft 13 to be described later is provided on the inner peripheral side of the slide shaft 9.
A pair of upper and lower guide members 11, 11 are fitted and fixed to guide the guide members. Note that the maximum projecting position of the slide shaft 9 is regulated when a stopper 9b provided at the upper end of the slide shaft 9 contacts one end of the bearing unit 8.

b: Socket unit B The socket unit B includes a shaft 14 having a predetermined length,
14, a rotary shaft 13 having a socket 15 formed integrally with the tip end and having a bolt fitting recess 16 which can be fitted to the bolt head 87a on the tip end surface thereof. The end 14a of the shaft portion 14 on the side opposite to the socket 15 is pivotally supported on the second connecting shaft 6 of the swing support unit C. In addition, each of the above-mentioned guide members is
A pair of upper and lower land portions 22, 22 are formed at the same pitch as 11, 11, and the rotating shaft 13 is in a state where the land portions 22, 22 correspond to the respective guide members 11, 11 (ie, in FIG. 3). In the state where the slide shaft 9 is set at the lowermost position as described above, the swing displacement, that is, the displacement of the socket 15 in the radial direction is restricted.

On the other hand, as shown in FIG.
Are relatively displaced in the axial direction so that the lands 22 and 22 no longer correspond to the guide members 11 and 11, respectively. Since the rotation shaft 13 is released, the rotation shaft 13 can be swingably displaced about the first connection shaft 5 or the second connection shaft 6 of the swing support unit C.

Further, a pressing rod member 18 is provided in the axial center portion of the socket 15 with the bolt fitting concave portion 16 fitted in the axial direction. This pressing lot member 18
It corresponds to the urging means in the claims,
At the one end protruding downward from the socket 15, the bolt
A pressing head 19 for contacting and pressing the recess 87c of the 87 is formed. The pressing rod member 18 is constantly pressed by a spring 20 against the pressing head 19.
It is urged to project to the side.

The stroke of the pressing rod member 18 is regulated by a stopper 21 provided on the socket 15.

c: Chuck unit D As shown in FIGS. 1, 2 and 4, the chuck unit D is attached to one end 23a of a flexible plate 23 having a predetermined length.
A chuck member 25 including a claw 24 having a hook portion 24a having a substantially L-shaped cross section and a guide portion 24b continuous with the hook portion 24a,
Four sets of the claws 24 are arranged at equal pitches around the lower end 9a of the slide shaft 9 with the claws 24 facing downward.

As shown in FIGS. 3 and 4, the length of the chuck member 25 is such that the guide portion 17 of the socket 15 is The state where the slide shaft 9 is set at the intermediate position as shown in FIG. 8 and the slide shaft 9 is set at the lowermost position as shown in FIGS. 9 and 10 corresponding to the inner surface side. Between them, the socket 15 is set relatively to the socket 15 so as to correspond to the guide portion 24b of the claw 24 of the guide portion 17 of the socket 15.

In addition, the guide portion 17 of the socket 15 is
In the state corresponding to each of the flexible plates 23, 5,..., The guide portion 17 is provided with the flexible plates 23, 23,.
The socket 15 is centered by the spring force of each of the flexible plates 23 acting from its periphery toward its axial center. And in this state, each of the chuck members 25, 25,.
The guide portion 24b of the claw 24 extends substantially parallel to the axis of the slide shaft 9, and the guide body 24 of the hose base 91 can be gripped from the periphery thereof by the guide portion 24b and the latching portion 24a. I have.

On the other hand, the guide portion 17 of the socket 15 is
In the state corresponding to, each chuck member 25, 25,
Is bent outward in the radial direction about the upper end 23b of the flexible plate 23 by a dimension corresponding to the thickness of the hooking portion 24a in a radially outwardly bent state to release the grip of the base body 92. Becomes

d: Hose cap holding unit E The hose cap holding unit E is, as shown in FIGS. 1 to 3, a first arm 31 having a substantially U-shaped groove-shaped receiving portion 33 at a lower end thereof, and a lower end thereof. Approximately wedge-shaped groove-shaped receiving part 34
And a second arm 32 formed with the second arm 32. The first arm 31 and the second arm 32 are movably mounted in the axial direction with respect to a position radially opposed to the lower end 9a of the slide shaft 9, respectively.

That is, the upper ends of the first arm 31 and the second arm 32 are fixed to the bearing unit 37, respectively. The bearing unit 37 is provided at the lower end of the slide shaft 9.
It is fitted and arranged on a guide rod 36 attached to a support bracket 35 provided on 9a in parallel to the axial direction thereof.
The first arm 31 and the second arm 32 are urged so as to always protrude downward by the spring force of a spring 38 disposed between the support bracket 35 and the bearing unit 37, respectively.

e: Movement restriction unit F The movement restriction unit F is for defining the minimum approach distance of the slide shaft 9 to the caliper 88, and as shown in FIGS. 1, 2 and 4, The lower end 9 is composed of a pair of left and right rod members 41, 41 fixed at two positions radially opposite to each other and extending downward from the lower end. Then, as shown in FIG. 6, the lower end of each of the rod members 41, 41 abuts on the caliper 88, so that the slide shaft 9 is further defined to approach the caliper 88 side. .

Operation of Automatic Assembling Device Next, the operation of the automatic assembling device will be described for a case where the hose unit 90 is fixed to the caliper 88 using the same.

First, as shown in FIG. 3, a bolt 87 that has been previously mounted in the base body portion 92 of the hose unit 90 in a pre-process in a penetrating state is disposed in front of the automatic assembling apparatus, and is attached to the automatic assembling apparatus. Press in the axial direction against the attachment device. In this case, first, as shown in FIG.
The head 87a of the bolt 87 is gripped by the claws 24, 24,..., And when the bolt 87 is further pressed, the seat 87d of the bolt 87 serves as a guide so that each chuck member of the chuck unit D 25,25, ... is pushed outward,
Together with the bolt 87, the base body 92 also enters the socket 15 side, and the bolt 87 and the base body 92 are integrally held by the chuck unit D (in a state shown by a chain line in FIGS. 6). In addition, like this bolt
When the base 87 and the base body 92 are gripped, the pressing head 19 of the pressing rod member 18 is brought into contact with the head 87a of the bolt 87.

When the gripping operation of the bolt 87 and the base body 92 by the chuck unit D is completed, the operation proceeds to the hose unit mounting operation by operating the robot arm 1 subsequently. That is, first, the entire automatic assembling apparatus is moved to the caliper 88 side by the robot arm 1, and the tip surface 87 b of the bolt 87 gripped by the chuck unit D is moved to the caliper 88 as shown in FIGS. Bolt holes 8
9 is pressed from above in the axial direction.

In this case, the bolt 87 is connected to the guide member 11 of the slide shaft 9.
Is pressed toward the bolt hole 89 by the pressing rod member 18 centered by the engagement of the rotary shaft 13 with the land portion 22 and the engagement of the guide portion 17 of the socket 15 with each flexible plate 23 of the chuck unit D. Have been. On the hose base 91 side, the positioning pin 94 is urged downward by the first arm 31 of the hose base holding unit E, and the hose 95 mounted on the hose mounting part 93 is urged downward by the second arm 32. ing. Further, the slide shaft 9
As shown in FIG. 6, each rod member 41 of the movement restricting unit F comes into contact with the caliper 88 so that further lowering is restricted.

When the bolt 87 faces the bolt hole 89 of the caliper 88 in this manner, the axis of the bolt 87 and the bolt hole 89
As long as the axis of the bolt 87 does not coincide with the axis of the bolt 87 safely, as shown in an enlarged view in FIG.
A misalignment state is brought into contact with one side of the end face 89a of the 9. Therefore, in this state, it is difficult to smoothly screw the bolt 87 into the bolt hole 89. For this reason, in this embodiment, the misalignment of the bolt 87 with respect to the bolt hole 89 is corrected before the screwing operation of the bolt 87.

That is, when the entire automatic assembling apparatus is further moved to the caliper 88 side by the robot arm 1 from the state of FIGS. 5 and 6, as shown in FIGS. 7 and 8, the slide shaft 9 is moved further. When the movement is restricted, the rotation shaft 13 moves relatively downward with respect to the slide shaft 9. Then, the guide portion 17 of the sket 15 engages with each claw 24 and acts to push it outward in the radial direction, so that the chucking unit D releases the gripping action on the bolt 87 and the base body 92, and Bolt 87 is a pressing rod member
18 only receives the pressing action, and
The state where only the pressing action by the arm 31 and the second arm 32 is received. On the other hand, the socket 15 is disengaged from the land portion 22 of the rotary shaft 13 and the guide member 11 of the slide shaft 9, so that the socket 15 can be moved in the radial direction.

As a result, the bolt 87 first receives the urging force F by the pressing rod member 18 in the state shown in FIG.
The bolt 87 faces the bolt hole 89 while being inclined by a predetermined angle α as shown in FIG. However, in this state, as shown in FIG. 12, an inclination α occurs between the concave portion 87c of the bolt 87 and the pressing head 19 of the pressing rod member 18, and the concave portion 87c and the pressing head 19 are separated. In the contact state, the direction in which the axis of the bolt and the axis of the pressing rod member coincide with each other by the urging force F (i.e.,
A moment is generated in the direction in which the bolt 87 is erected. Therefore, receiving this moment, the rotating shaft 13 is displaced in the radial direction about the first connecting shaft 5 or the second connecting shaft 6, and as shown in FIG.
Is set to an angle β smaller than the above-mentioned angle α (first-step inclination correction operation).

Further, at the same time as the inclination of the bolt 87 is corrected by the rotating shaft 13, the inclination of the second stage is corrected by the base body 92. That is, as shown in FIGS. 7 and 8, the base body 92 is forcibly moved toward the caliper 88 by the first arm 31 and the second arm 32 of the hose base holding unit E with the downward movement of the automatic assembling apparatus. It is pushed down and is brought into contact with this. In this case, when the base body 92 is in contact with the caliper 88, the axis of the bolt insertion hole 85 is surely parallel to the axis of the bolt hole 89. Since the gap between the hole 85 and the bolt 87 is controlled to a predetermined size, the bolt 87 is forced down from the state shown in FIG. 13 to the state shown in FIG. The force in the radial direction is received from the bolt insertion hole 85, and the force is further raised in the upright direction from the inclined state of the angle β (the inclination correcting action in the second stage).

By receiving the first-stage inclination correcting operation and the second-stage inclination correcting operation in this way, the axis of the bolt 87 is made to coincide with the axis of the bolt hole 89 as much as possible. When the base body 92 is in contact with the caliper 88, the positioning pins 94 projecting therefrom fit into the pin holes 96 of the caliper 88, thereby positioning the base body 92 with respect to the caliper 88. Is performed reliably.

When the bolt 87 is engaged with the bolt hole 89 as much as possible, as shown in FIGS. 9 and 10, the rotating shaft 13 is further lowered to lower the bolt of the socket 15. The head 87a of the bolt 87 is fitted into the fitting recess 16, the nut runner 3 is operated, the socket 15 is rotated, the bolt 87 is screwed, and the hose base 91 is attached to the caliper.
Fasten to the 88 side. In this case, as described above,
Since the bolt 87 and the bolt hole 89 match as much as possible, the screwing of the bolt 87 is performed properly and smoothly, and the reliability of the work of attaching the hose base 91 with the bolt 87 is ensured. Is what is done.

[Brief description of the drawings]

FIG. 1 is a side view of an automatic assembling apparatus according to an embodiment of the present invention, FIG. 2 is an enlarged view taken along the line II-II of FIG. 1, and FIG.
FIG. 4 is a state change diagram of FIG. 3, FIG. 6 is a state change diagram of FIG. 4, and FIG. 7 is a state change diagram of FIG. 5 is a state change diagram, FIG. 8 is a state change diagram of FIG. 6, FIG. 9 is a state change diagram of FIG. 7, and FIG.
FIG. 11 to FIG. 14 are explanatory diagrams of the bolt inclination correction operation. DESCRIPTION OF SYMBOLS 1 ... Robot arm 2 ... Support plate 3 ... Nut runner 4 ... Rotation axis 5 ... 1st connection axis 6 ... 2nd connection axis 7 ... Base body 8 ... Bearing unit 9 ... Slide axis 10 ... … Spring 11 …… Guide member 13 …… Rotating shaft 14 …… Shaft part 15 …… Socket 16 …… Bolt fitting recess 17 …… Guide part 18 …… Pressing rod member 19 …… Pressing head 20 …… Spring 21… … Stopper 22… Land part 23… Flexible plate 24… Claw 25… Chuck member 31… First arm 32… Second arm 35… Support bracket 36… Guide rod 37… Bearing unit 38 … Spring 41… Rod member A… Slide unit B… Socket unit C… Swing support unit D… Chuck unit E… Hose cap holding unit F… Movement control unit

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Masami Asakuno 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. (56) References JP-A-2-145224 (JP, A) JP-A Sho 63-34031 (JP, A) JP-A-64-51237 (JP, A) JP-A-1-138621 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23P 19/06 B25B 23/10

Claims (1)

(57) [Claims] 1. A mounting surface of a bolt held by a chuck, the socket being rotatably driven and movable in an axial direction thereof, and a head capable of fitting and holding a head of the bolt at a tip end thereof. An automatic assembling device adapted to be assembled to a bolt hole formed in the bolt head, wherein movement of the socket in a radial direction is restricted when the socket is separated from the bolt head by a predetermined dimension or more, and the bolt head is In such a state that it is allowed to move in the radial direction when it is close to the predetermined dimension so as to fit into the part, the chuck is configured such that the socket is within the predetermined dimension with respect to the bolt head. It is configured to release the holding action of the bolt when approached, and furthermore, the tip of the socket is biased to press the head of the bolt in the screwing direction. The step is provided in a state in which the step is slidable in the axial direction with respect to the socket and the relative displacement in the radial direction is regulated, and the urging means has a tip end portion with respect to the bolt head. A state in which the axis of the bolt is inclined with respect to the axis of the urging means and restricts the relative displacement in the radial direction, and at least the tip surface of the bolt is in contact with the bolt hole. 3. The automatic assembling device according to claim 1, wherein the concave-convex fitting is performed on the bolt head to start a pressing action on the bolt head.